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中文摘要：
为了解决Kalman滤波算法进行动态定位时，模型中存在的系统误差使得动态定位结果产生偏差的问题，采用基于核估计的滤波补偿法，在移动的窗口内，利用核估计拟合模型系统误差，修正相应的观测向量和状态预测向量的协方差矩阵估值，以消除系统误差对滤波的影响，推导了利用核估计拟合系统误差的公式。通过一个模拟算例证明了改算法的有效性，而且在滤波过程中不需要对系统误差做任何假设，对开窗窗口的宽度也不敏感。
英文摘要：
In order to solve the problems that the systemic errors existed in the observation model and dynamics model will affect the location accuracy when Kalman filter is used to process the data of dynamic positioning, A compensation method of Kalman filter based on kernel estimation is presented. The systematic errors are fitted by using the kemel estimation within chosen window, subsequently, the covariance matrices of the observations and the predicted states are modified, The estimation formulae and calculation strategy are given, with a simulative example, the validity of the method was verified,The method has an obvious advantage, namely, it need not any hypothesis about systematic errors,and also isn＇t hypersensitive for the width of chosen window.
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